Экономичная имитационная модель гусеничного движителя

Вестник Московского государственного технического университета им. Н.Э. Баумана. Серия: Машиностроение. 2025. Т. 155. № 4. С. 72–89.

Комиссаров А. И.

The primary requirement for a tracked vehicle simulation model used in the computer-based training simulators for the tracked vehicle and robot control is their operation in real or near-real time. This requirement is most often met by the significantly simplified kinematics and dynamics in the tracked running gear substructure interaction model. The paper describes an original economical tracked running gear model that takes into account track groups between the supporting rollers and wheels using the additional rollers. These rollers are connected to the supporting wheels and rollers with the elastic damping links operating in tension only. To assess adequacy of the developed model, two models of the spatial motion dynamics for the high-speed tracked vehicle are created in the Universal Mechanism software package for the automated body dynamics analysis. The first is using the developed economical tracked running gear model. The second is based on the detailed tracked running geaer model that takes into account spatial dynamics and kinematics of each track link. Using these models, makes it possible to simulate the tracked vehicle motion over a typical single uneven surface with registering the time-domain realizations of the key motion parameters of the tracked vehicle sprung mass. Comparison of the obtained realizations reveals that the proposed economical tracked running gear model provides significantly lower computational costs, ensures adequacy close to that of the detailed tracked running gear model, and could be applied to problems, where model efficiency is the determining factor

Keywords: моделирование, динамика, simulation, dynamics, tracked vehicle, real-time simulation model, tracked running gear, гусеничная машина, имитационная модель реального времени, гусеничный движитель